WO2020115638A1 - Dispositif et procédé de traitement d'un système d'assistance à un conducteur destiné à un véhicule de type à selle, système d'assistance à un conducteur destiné à un véhicule de type à selle, et véhicule de type à selle - Google Patents

Dispositif et procédé de traitement d'un système d'assistance à un conducteur destiné à un véhicule de type à selle, système d'assistance à un conducteur destiné à un véhicule de type à selle, et véhicule de type à selle Download PDF

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Publication number
WO2020115638A1
WO2020115638A1 PCT/IB2019/060362 IB2019060362W WO2020115638A1 WO 2020115638 A1 WO2020115638 A1 WO 2020115638A1 IB 2019060362 W IB2019060362 W IB 2019060362W WO 2020115638 A1 WO2020115638 A1 WO 2020115638A1
Authority
WO
WIPO (PCT)
Prior art keywords
type vehicle
index value
saddle
rider
processing device
Prior art date
Application number
PCT/IB2019/060362
Other languages
English (en)
Japanese (ja)
Inventor
ラーズ プファウ
Original Assignee
ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング filed Critical ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング
Priority to EP19829680.8A priority Critical patent/EP3893219A1/fr
Priority to EP22170694.8A priority patent/EP4068242A1/fr
Priority to US17/298,082 priority patent/US20220020274A1/en
Priority to JP2020559052A priority patent/JP7203121B2/ja
Publication of WO2020115638A1 publication Critical patent/WO2020115638A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/2607—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic comprising at least two indicating lamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B60Q1/535—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/21—Information-providing devices intended to provide information to rider or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/25—Information-providing devices intended to provide information to other road users, e.g. signs or flags
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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    • G01S2013/9327—Sensor installation details
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    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
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    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

Definitions

  • the present invention uses a surrounding environment information to determine the necessity of a support operation for supporting a rider's driving, and when necessary, the rider-support system processing apparatus and processing method. And a rider assistance system including the processing device, and a saddle-ride type vehicle including the rider assistance system. [Background technology]
  • Patent Document 1 a surrounding environment detection device that detects an obstacle in the traveling direction or substantially in the traveling direction is used to inform a rider of a saddle-type vehicle that the vehicle is improperly approaching the obstacle.
  • a warning rider assistance system is disclosed
  • Patent Document 1 Japanese Unexamined Patent Publication No. 2 0 0 9-1 1 6 8 8 2
  • the present invention has been made in view of the above problems, and provides a processing device and a processing method capable of improving the safety of a rider. Also, a rider assistance system equipped with the processing device is obtained. In addition, a straddle-type vehicle equipped with the rider support system is obtained.
  • a processing device is a processing device for a rider-support system for a saddle-ride type vehicle, and an acquisition unit that acquires ambient environment information of the saddle-ride type vehicle, and the acquisition unit acquired by the acquisition unit.
  • a determination unit that determines the necessity of a support action to support the rider's driving caused by the rider support system based on the surrounding environment information, and the support action is required by the determination unit.
  • the surrounding environment information includes information on a surrounding environment behind the straddle-type vehicle
  • the determination unit Is a rear-end collision index value that is an index value that depends on the information on the surrounding environment behind, and is an index value of a rear-end collision possibility of a following vehicle with respect to the running saddle-ride type vehicle, and the rear surrounding area.
  • a stability index value that is an index value that depends on environmental information and that is an index value of the stability degree of the relative distance of the following vehicle rain to the straddle type vehicle that is running, and Determine the need for.
  • a rider assistance system includes the above processing device.
  • a straddle-type vehicle according to the present invention includes the above rider assistance system.
  • the processing method according to the present invention is a processing method for a rider support system for a saddle-ride type vehicle, wherein the acquisition unit of the processor of the rider-support system described above provides information on the surrounding environment of the saddle-ride type vehicle. Based on the surrounding environment information acquired by the acquisition unit and the determination unit of the processing device, it is necessary for the determination unit of the processing device to perform a support operation for supporting the rider's driving caused by the rider support system. Sex 1) constant half 1] constant ⁇ 0 2020/115638 ⁇ (: 1'2019/060362
  • the environment information includes information on the surrounding environment behind the saddle-ride type vehicle, and in the determining step, the determining unit is an index value that depends on the information on the surrounding environment behind, and A rear-end collision index value that is an index value of a rear-end collision possibility of a succeeding vehicle with respect to the saddle-ride type vehicle, and an index value that depends on the information on the surrounding environment behind the rear-end vehicle, and for the saddle-ride type vehicle that is running.
  • the necessity of the support operation is determined using a stability index value that is an index value of the degree of stability of the relative distance of the following vehicle.
  • the surrounding environment information including the information of the surrounding environment behind the saddle riding type vehicle is acquired, and the information of the surrounding environment behind that is acquired. It is a target value that depends on the vehicle's vehicle and that is a rear-end collision index value that is an index value of the possibility of a rear-end collision of a following vehicle with a straddle-type vehicle that is running, and an index value that depends on the surrounding environment information behind it.
  • the stability index value which is an index value of the degree of stability of the relative distance of the succeeding vehicle to the running saddle type vehicle, is used to determine the necessity of the rider's assistance motion to be generated in the rider-assistance system.
  • FIG. 1 is a diagram showing a rider-assistance system mounted on a saddle-ride type vehicle according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing a system configuration of a rider assistance system according to an embodiment of the present invention.
  • FIG. 3 is a diagram showing an operation flow of a processing device of the rider assistance system according to the embodiment of the present invention.
  • the rider-assistance system according to the present invention can be applied to saddles other than motorcycles. It may be used in a riding type vehicle.
  • Saddle-type vehicles mean all the vehicles that riders straddle.
  • Saddle-type vehicles include motorbikes (motorcycles, motorcycles), paggy cars, bicycles, etc.
  • motorcycles include motorcycles or tricycles with an engine as a driving source, motorcycles or tricycles with a motor as a driving source, and examples include motorcycles, scooters, and electric scooters. Etc. are included.
  • a bicycle means all vehicles that can move on the road by the rider's pedaling force applied to the pedals.
  • Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles.
  • FIG. 1 is a diagram showing a state in which a rider-assistance system according to an embodiment of the present invention is mounted on a saddle type vehicle.
  • FIG. 2 is a diagram showing a system configuration of the rider assistance system according to the embodiment of the present invention.
  • the rider assistance system 1 is mounted on a saddle type vehicle 100.
  • the support system 1 includes at least a surrounding environment detection device that detects a surrounding environment behind the straddle-type vehicle 100.
  • the rider-assistance system 1 uses the surrounding environment detection device 11 to recognize the possibility of a rear-end collision caused by a following vehicle on the running saddle-ride type vehicle 100, and uses an execution device to assist the rider. Play a role in.
  • the processing device 20 acquires the output of the surrounding environment detection device 11 and the output of the traveling state detection device 12 and outputs a control command to the execution device.
  • the processing device 20 also inputs the output of various detection devices (not shown) for detecting other information (for example, information on the brake operation state by the rider, information on the accelerator operation state by the rider, etc.). To be done.
  • Each armor 5 of the rider support system 1 may be exclusively used for the rider support system 1 or may be shared with other systems.
  • the ambient environment detection device 11 is, for example, a radar, an I ⁇ 6 3 "sensor, an ultrasonic sensor, a camera, or the like, and is located within the detection range while the saddle riding type vehicle 100 is running or stopped. It constantly detects the distance and direction of an object with respect to the saddle type vehicle 100.
  • the ambient environment detection device 11 is preferably fixed to the rear of the seat of the saddle type vehicle 100. ..
  • the traveling state detection device 12 is, for example, a wheel speed sensor, an inertial sensor (I 1 ⁇ /1 II), or the like. For example, speed, acceleration, ⁇ -angle, etc. occurring in the saddle type vehicle 100. To detect.
  • the processing device 20 includes an acquisition unit 21, a determination unit 22 and a control unit 23.
  • the respective units of the processing device 20 may be provided collectively in one housing, or may be provided separately in a plurality of housings. Further, one or all of the processing device 20 may be configured by, for example, a microcomputer, a microphone processor unit, or the like, or may be configured by a renewable device such as firmware. 0 It may be a program module or the like executed by a command from II or the like. ⁇ 0 2020/115638 ⁇ (: 1'2019/060362
  • the acquisition unit 21 acquires the surrounding environment information including the information on the surrounding environment behind the straddle-type vehicle 100, based on the output of the surrounding environment detection device 11. Further, the acquisition unit 21 acquires the traveling state information, which is information on the traveling state of the saddle riding type vehicle 100, based on the output of the traveling state detection device 12.
  • the determination unit 22 identifies the traveling direction of the straddle-type vehicle 100 from the traveling state information acquired by the acquisition unit 21 and determines the possibility of a rear-end collision from the surrounding environment information acquired by the acquisition unit 21.
  • the following vehicle a vehicle traveling behind the saddle riding type vehicle 100 following the saddle riding type vehicle 100
  • the determination unit 22 identifies the traveling lane of the straddle-type vehicle 100 from the surrounding environment information acquired by the acquisition unit 21 and travels in the same traveling lane as that traveling lane.
  • the vehicle that does this may be specified as the following vehicle (the vehicle that travels behind the saddle riding type vehicle 100 following the saddle riding type vehicle 100) whose rear-end collision possibility should be determined.
  • the semi-fixed arm 52 2 derives a rear-end collision index value as a rear-end collision possibility of the saddle-ride type vehicle 100 for the subsequent vehicle for each specified rear-vehicle.
  • the rear-end collision index value ⁇ is defined as an index value that depends on the information on the surrounding environment behind, and is an index value of the rear-end collision possibility of the following vehicle with respect to the saddle type vehicle 100.
  • the determination unit 22 determines whether or not the derived rear-end collision index value exceeds the reference value for each succeeding vehicle that has been identified, so that a rear-end collision vehicle with a high possibility of rear-end collision is located behind the saddle-type vehicle 100. Determine if a vehicle is present.
  • the reference value may change depending on the setting state by the rider.
  • the rear-end collision index value ⁇ may be the reciprocal of the relative distance mouth of the following vehicle with respect to the saddle type vehicle 100, and the relative speed V of the following vehicle with respect to the saddle type vehicle 100. It may be the relative caro speed of the following vehicle with respect to the straddle-type vehicle 100, or a combination thereof.
  • the rear-end collision index value I is It is a value defined by Equation 1 or Equation 2. The higher the rear-end collision index value, the higher the possibility of rear-end collision.
  • the determination unit 22 determines the stability index value as the degree of stability of the relative distance mouth of the following vehicle with respect to the straddle-type vehicle 100, for each of the following vehicles that are identified as the possibility of a rear-end collision. Is derived. That is, the stability index value ⁇ ) is an index value that depends on the information of the surrounding environment behind, and is defined as an index value of the degree of stability of the relative distance of the following vehicle with respect to the saddle type vehicle 100
  • the determination unit 22 determines whether or not the “derived stability index value” exceeds the reference value for each identified succeeding vehicle, so that the saddle riding type vehicle is positioned behind the saddle riding type vehicle 100. It is determined whether there is a following vehicle traveling at a speed substantially equal to 100.
  • the reference value may change depending on the setting state by the rider.
  • Stability index value is, for example, the time during which the absolute value of the relative speed V of the following vehicle to the saddle-type vehicle 100 is kept below the reference amount, that is, the variation of the relative distance mouth is below the reference amount. Is a value that changes depending on the time maintained at the stability index value.) is, for example, the average value of the absolute value of the relative velocity V “at the reference time, that is, the reference value of the relative distance mouth”. It is a value that changes according to the amount of fluctuation over time. The larger the stability index value, the higher the degree of stability of the relative distance mouth.
  • the determination unit 22 determines that there is a succeeding vehicle behind the straddle-type vehicle 100 with a high possibility of a rear-end collision, and that the succeeding vehicle is behind the straddle-type vehicle 100. If it is determined that the vehicle is traveling at a speed substantially equal to that of the vehicle 100, it is determined that the support operation is necessary, and if not, it is determined that the support operation is not required. When the determination unit 22 determines that the support operation is necessary, the control unit 23 supports the execution device. ⁇ 0 2020/115638 ⁇ (: 1'2019/060362
  • the execution device includes the notification device 30.
  • the notification device 30 executes a notification operation to the rider as a support operation.
  • the notification device 30 may notify the rider by sound (that is, the perception that the auditory sense is used as a sensory organ), or by the display (that is, the perception that the visual aid is used as a sensory organ).
  • the rider may be notified, or the rider may be notified by vibration (that is, the perception that the hornworm is used as a sensory device), or a combination thereof. It may be one.
  • the notification device 30 is a speaker, a display, a lamp, a vibrator, or the like, and may be provided in the saddle riding type vehicle 100, or it may be a saddle riding type vehicle 100 such as a Velmet.
  • the notification device 30 may be configured by one output device, or may be configured by a plurality of output devices of the same type or different types.
  • the plurality of output devices may be integrally provided or may be separately provided.
  • the execution unit includes a warning unit 40.
  • the warning device 40 executes a warning operation to the following vehicle as a support operation.
  • the warning device 40 may alert the following vehicle by means of a display (that is, the perception that the visual device is used as a sensory device) and may also provide a sound (that is, the perception that the auditory device is used as a sensory device). Therefore, the following vehicle may be warned, or the combination thereof may be warned.
  • the warning device 40 is a lamp, a display, a speaker, etc., and may be provided in the saddle riding type vehicle 100, or may be attached to the saddle riding type vehicle 100 such as a helmet. ⁇ It may be installed in the corresponding equipment. In the temple, the warning device 40 may be the brake lamp of the saddle type vehicle 100.
  • the warning device 40 may be configured by one output device, or may be configured by a plurality of output devices of the same type or different types. The plurality of output devices may be provided integrally or separately.
  • the execution device includes a speed control device 50 provided in the saddle riding type vehicle 100.
  • the speed control device 50 executes a speed correction operation as a support operation.
  • the speed correction operation is performed by the saddle type vehicle 100 ⁇ 0 2020/115638 ⁇ (: 1'2019/060362
  • the speed control device 50 may be a device that controls the operation of a mechanism for generating a thrust force in the saddle riding type vehicle 100. It may control the operation of the mechanism for causing the. For example, when the saddle riding type vehicle 100 automatically decelerates due to the adaptive cruise control, if the semi-determining unit 22 determines that the assisting operation is required, the execution device determines that the target deceleration in the automatic deceleration is necessary. Executes a speed correction operation that corrects low. The execution device may execute a speed correction operation for correcting the target speed in automatic deceleration to a high value.
  • the execution device determines the target acceleration in the automatic acceleration. Executes a speed correction operation for correcting a high value.
  • the execution device may execute the speed correction operation for correcting the target speed in the automatic acceleration to be high.
  • the adaptive cruise control vehicle is a saddle-type vehicle 100, which is a large distance from the saddle-type vehicle 100 to the vehicle in front of the saddle-type vehicle. The movement is set to 0 and control is performed to run the vehicle according to the rider's instruction.
  • the details of the adaptive cruise control module are already known to other vehicles such as automobiles, so the explanation is omitted here.
  • a saddle riding type vehicle 100 is provided with a surrounding environment detection device (not shown) for acquiring front surrounding environment information.
  • the execution device may include other devices other than the notification device 30 and the warning device 40 and the speed control device 50.
  • the notification device 30 and the warning device 40 and the speed control device may also be included. It is not necessary to include any of 50.
  • the rider assistance system 1 may simultaneously activate the alarm device 30, the warning device 40, and the speed control device 50, and , May be operated at different timings.
  • FIG. 3 is a diagram showing an operation flow of the processing device of the rider assistance system according to the embodiment of the present invention.
  • the processing device 20 repeatedly executes the operation flow shown in FIG. 3 while the saddle riding type vehicle 100 is traveling.
  • step 5101 the acquisition module 211 acquires the surrounding environment information according to the output of the surrounding environment detection device 11 1.
  • the acquisition unit 21 acquires the traveling state information according to the output of the traveling state detection device 12
  • step 5 102 the semi-regular vehicle 5 2 2 determines that there is a succeeding vehicle behind the saddle type vehicle 100 with a high possibility of a rear-end collision, based on the information obtained in step 5 10 1. In addition, it is semi-determined whether or not the following vehicle is traveling behind the saddle riding type vehicle 100 at a speed substantially equal to that of the saddle riding type vehicle 100. If it is ⁇ 5, proceed to step 5 103, and if it is 1 ⁇ 10, return to step 5 101.
  • step 5 103 the ⁇ I] ⁇ 5 2 3 causes the execution device to execute the support operation.
  • the processor 20 determines the necessity of the acquisition unit 21 for acquiring the surrounding environment information of the saddle riding type vehicle 100 and the support operation that is generated in the rider-support system 1 to support the rider's driving. It is equipped with a semi-fixed square 5 2 2 and a control section 2 3 that causes the execution device to execute the assisted movement when it is determined that the semi-fixed square 5 2 2 requires the surrounding movement. Includes information on the surrounding environment behind the straddle-type vehicle 100, and the determination unit 22 is an index value depending on the information on the surrounding environment behind the straddle-type vehicle 100.
  • a rear-end collision index value I which is an index value of the rear-end collision possibility of a following vehicle with respect to 100, and a finger that depends on the surrounding environment information behind it. ⁇ 0 2020/115638 ⁇ (: 1'2019/060362
  • the stability index value which is an index value of the degree of stability of judge. Therefore, the support operation of the rider for the rear-end collision by the following vehicle can be executed based on the highly reliable determination, and the rider's safety is improved.
  • the determination unit 22 is, when the rear-end collision index value I is an index value having a higher possibility of rear-end collision than the determination standard, and the “stable index value” is an index value having a greater degree of stability than the determination standard, It is determined that supportive action is required.
  • the rider's assistance operation it is possible to execute the rider's assistance operation in a state where the following vehicle is traveling at a speed substantially equal to that of the saddle riding type vehicle 100 in a state where the possibility of a rear-end collision is not extremely high. It will be possible and the rider's safety will be improved.
  • the rear-end collision index value ⁇ is a value that changes in accordance with at least one of a relative distance port “, a relative speed V ”, and a relative calo speed 8 ”with respect to the saddle-ride type vehicle 100 while the following vehicle is running.
  • the stability index value ⁇ ) is a value that changes in accordance with the time during which the variation amount of the relative distance mouth “is maintained below the reference amount.
  • the rider's assistance motion can be executed based on the judgment with higher certainty, and the safety of the rider is improved.
  • the stability index value is a value that changes according to the amount of variation of the relative distance mouth “in the reference time.
  • the determination unit 22 is at least one of the determination criteria of the rear-end collision index value I and the stability index value. ⁇ 0 2020/115638 ⁇ (: 1'2019/060362
  • the execution device includes the notification device 30 and the support operation includes a notification operation to the rider executed by the notification device 30.
  • the rider's safety against a rear-end collision with a following vehicle is improved.
  • the execution device includes a warning device 40
  • the support operation includes a warning operation to the following vehicle performed by the warning device 40.
  • the execution device includes a speed control device 50 provided in the saddle riding type vehicle 100, and the assisting operation is performed by the speed control device 50.
  • the speed control device 50 Includes speed correction operation that corrects the acceleration/deceleration or speed that occurs in the saddle riding type vehicle 100 due to the cruise control. With such a configuration, the rider's safety against a rear-end collision with a following vehicle is improved.
  • the present invention is not limited to the description of the embodiments. That is, the present invention (this includes a modified form of the embodiment described above. For example, only a part of the embodiment may be carried out. A part may be modified.
  • the acquisition unit 21 may acquire the surrounding environment information through the inter-vehicle communication.
  • the surrounding environment detection device 11 is provided in a following vehicle that may have a rear-end collision.
  • the above-described support operation may be executed only when the speed V occurring in the saddle riding type vehicle 100 is between the lower limit value and the upper limit value.
  • the semi-fixed square 52 2 has a velocity V occurring in the saddle riding type vehicle 100 below the lower limit value or above the upper limit value, it does not matter whether it is a rear-end collision index value or a stability index value.
  • the support operation is unnecessary. Note that only one of the lower limit value and the upper limit value may be provided. When the lower limit value is set, unnecessary support operation is suppressed from being executed in the low speed range where a rear-end collision with a following vehicle does not cause a serious situation.
  • the rider - is in the high-speed range it is desired to concentrate on driving, the rider can feel uncomfortable assistance operation Somosomo ⁇
  • the semi-fixer 52 2 may change at least one of the lower limit value and the upper limit value according to the setting state by the rider. Further, the determination unit 22 may compare the speed ⁇ itself with a limit value, or may compare another physical quantity that can be substantially converted into the speed V with the limit value.
  • 1 rider-support system 1 1 ambient environment detection device, 1 2 running state detection device, 20 processing device, 2 1 acquisition unit, 2 2 determination unit, 2 3 control unit, 30 notification device, 40 warning device, 50 speed control, 100 saddle type vehicle.

Abstract

La présente invention concerne un dispositif et un procédé de traitement, un système d'assistance à un conducteur, et un véhicule de type à selle, qui permettent d'améliorer la sécurité d'un conducteur. Un dispositif de traitement (20) comprend : une unité d'acquisition qui acquiert des informations d'environnement circonvoisin sur un véhicule de type à selle (100) ; une unité de détermination qui détermine si une opération d'assistance est nécessaire, afin d'assister la conduite du conducteur, générée par le système d'assistance à un conducteur (1) ; et une unité de commande qui amène un dispositif d'exécution (P) à exécuter l'opération d'assistance quand l'unité de détermination détermine que l'opération d'assistance est nécessaire, l'unité de détermination déterminant si l'opération d'assistance est nécessaire à l'aide d'une valeur d'indice de collision par l'arrière qui est une valeur d'indice d'une possibilité de collision par l'arrière d'un véhicule suiveur par rapport au véhicule de type à selle (100) se déplaçant, et d'une valeur d'indice de stabilité qui est une valeur d'indice du degré de stabilité de la distance relative du véhicule suiveur au véhicule de type à selle (100) se déplaçant.
PCT/IB2019/060362 2018-12-06 2019-12-02 Dispositif et procédé de traitement d'un système d'assistance à un conducteur destiné à un véhicule de type à selle, système d'assistance à un conducteur destiné à un véhicule de type à selle, et véhicule de type à selle WO2020115638A1 (fr)

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Application Number Priority Date Filing Date Title
EP19829680.8A EP3893219A1 (fr) 2018-12-06 2019-12-02 Dispositif et procédé de traitement d'un système d'assistance à un conducteur destiné à un véhicule de type à selle, système d'assistance à un conducteur destiné à un véhicule de type à selle, et véhicule de type à selle
EP22170694.8A EP4068242A1 (fr) 2018-12-06 2019-12-02 Processeur et procédé de traitement d'image pour système d'aide au conducteur de véhicule de type à enfourcher, système d'aide au conducteur de véhicule de type à enfourcher et véhicule de type à enfourcher
US17/298,082 US20220020274A1 (en) 2018-12-06 2019-12-02 Processor and processing method for rider-assistance system of straddle-type vehicle, rider-assistance system of straddle-type vehicle, and straddle-type vehicle
JP2020559052A JP7203121B2 (ja) 2018-12-06 2019-12-02 鞍乗型車両のライダー支援システムのための処理装置及び処理方法、鞍乗型車両のライダー支援システム、及び、鞍乗型車両

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JP2018228680A JP2020091672A (ja) 2018-12-06 2018-12-06 鞍乗型車両のライダー支援システムのための処理装置及び処理方法、鞍乗型車両のライダー支援システム、及び、鞍乗型車両

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EP3893219A1 (fr) 2021-10-13
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US20220020274A1 (en) 2022-01-20
JPWO2020115638A1 (ja) 2021-09-27

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